143 lines
5.1 KiB
Python
143 lines
5.1 KiB
Python
#
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# Generated by erpcgen 1.14.0 on Tue Apr 28 12:25:26 2026.
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#
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# AUTOGENERATED - DO NOT EDIT
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#
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import erpc
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from . import common, interface
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# Client for servo_service
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class servo_serviceClient(interface.Iservo_service):
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def __init__(self, manager):
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super(servo_serviceClient, self).__init__()
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self._clientManager = manager
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def setConstraints(self, id, max_velocity_rad, max_acceleration_rad, max_jerk_rad):
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# Build remote function invocation message.
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request = self._clientManager.create_request()
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codec = request.codec
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codec.start_write_message(erpc.codec.MessageInfo(
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type=erpc.codec.MessageType.kInvocationMessage,
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service=self.SERVICE_ID,
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request=self.SETCONSTRAINTS_ID,
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sequence=request.sequence))
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if id is None:
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raise ValueError("id is None")
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codec.write_string(id)
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if max_velocity_rad is None:
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raise ValueError("max_velocity_rad is None")
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codec.write_float(max_velocity_rad)
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if max_acceleration_rad is None:
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raise ValueError("max_acceleration_rad is None")
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codec.write_float(max_acceleration_rad)
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if max_jerk_rad is None:
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raise ValueError("max_jerk_rad is None")
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codec.write_float(max_jerk_rad)
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# Send request and process reply.
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self._clientManager.perform_request(request)
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_result = codec.read_bool()
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return _result
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def setPositionGain(self, id, position_gain):
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# Build remote function invocation message.
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request = self._clientManager.create_request()
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codec = request.codec
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codec.start_write_message(erpc.codec.MessageInfo(
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type=erpc.codec.MessageType.kInvocationMessage,
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service=self.SERVICE_ID,
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request=self.SETPOSITIONGAIN_ID,
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sequence=request.sequence))
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if id is None:
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raise ValueError("id is None")
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codec.write_string(id)
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if position_gain is None:
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raise ValueError("position_gain is None")
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codec.write_float(position_gain)
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# Send request and process reply.
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self._clientManager.perform_request(request)
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_result = codec.read_bool()
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return _result
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def setMode(self, mode):
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# Build remote function invocation message.
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request = self._clientManager.create_request()
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codec = request.codec
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codec.start_write_message(erpc.codec.MessageInfo(
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type=erpc.codec.MessageType.kInvocationMessage,
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service=self.SERVICE_ID,
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request=self.SETMODE_ID,
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sequence=request.sequence))
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if mode is None:
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raise ValueError("mode is None")
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codec.write_int32(mode)
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# Send request and process reply.
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self._clientManager.perform_request(request)
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_result = codec.read_bool()
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return _result
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def setUpdatePeriodMs(self, ms):
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# Build remote function invocation message.
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request = self._clientManager.create_request()
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codec = request.codec
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codec.start_write_message(erpc.codec.MessageInfo(
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type=erpc.codec.MessageType.kInvocationMessage,
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service=self.SERVICE_ID,
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request=self.SETUPDATEPERIODMS_ID,
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sequence=request.sequence))
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if ms is None:
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raise ValueError("ms is None")
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codec.write_uint32(ms)
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# Send request and process reply.
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self._clientManager.perform_request(request)
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_result = codec.read_bool()
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return _result
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def move(self, cmds):
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# Build remote function invocation message.
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request = self._clientManager.create_request()
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codec = request.codec
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codec.start_write_message(erpc.codec.MessageInfo(
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type=erpc.codec.MessageType.kInvocationMessage,
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service=self.SERVICE_ID,
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request=self.MOVE_ID,
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sequence=request.sequence))
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if cmds is None:
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raise ValueError("cmds is None")
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codec.start_write_list(len(cmds))
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for _i0 in cmds:
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_i0._write(codec)
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# Send request and process reply.
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self._clientManager.perform_request(request)
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_result = codec.read_int32()
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return _result
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def moveJ(self, angles_rad):
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# Build remote function invocation message.
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request = self._clientManager.create_request()
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codec = request.codec
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codec.start_write_message(erpc.codec.MessageInfo(
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type=erpc.codec.MessageType.kInvocationMessage,
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service=self.SERVICE_ID,
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request=self.MOVEJ_ID,
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sequence=request.sequence))
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if angles_rad is None:
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raise ValueError("angles_rad is None")
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codec.start_write_list(len(angles_rad))
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for _i0 in angles_rad:
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codec.write_float(_i0)
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# Send request and process reply.
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self._clientManager.perform_request(request)
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_result = codec.read_int32()
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return _result
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